FB-BEV: BEV Representation from Forward-Backward View Transformations

Understand

View Transformation Module (VTM), where transformations happen between multi-view image features and Bird-Eye-View (BEV) representation, is a crucial step in camera-based BEV perception systems.

• Currently, the two most prominent VTM paradigms are forward projection and backward projection.
• Forward projection, represented by Lift-Splat-Shoot, leads to sparsely projected BEV features without post-processing.
• Backward projection, with BEVFormer being an example, tends to generate false-positive BEV features from incorrect projections due to the lack of utilization on depth.